FreeRTOS support for two targets

configurations/test/test-freertos-raspi3.txt

@@ -0,0 +1,31 @@
+// ********************************************************************************
+//  Copyright (c) 2018, 2024 OFFIS e.V.
+// 
+//  This program and the accompanying materials are made available under the
+//  terms of the Eclipse Public License 2.0 which is available at
+//  http://www.eclipse.org/legal/epl-2.0.
+// 
+//  SPDX-License-Identifier: EPL-2.0
+//  
+//  Contributors:
+//     Jörg Walter - initial implementation
+//  *******************************************************************************/
+// 
+
+include=test-minimal.txt
+
+ARCH=arm-none-eabi
+
+CMAKE_BUILD_TYPE=Debug
+FORTE_LOGLEVEL=LOGDEBUG
+
+MODULE=FREERTOS_STANDALONE
+
+FORTE_ARCHITECTURE=FreeRTOSLwIP
+FORTE_FREERTOS_PLUS_TCP:BOOL=ON
+DEPS=freertos-cpp11
+
+FREERTOS_CONFIG=bcm2837
+TOOLCHAIN_EXTRA_C_FLAGS:STRING=-mcpu=cortex-a7 -mfpu=vfpv3 -mthumb -mfloat-abi=hard -fexceptions -fasynchronous-unwind-tables
+TOOLCHAIN_EXTRA_ASM_FLAGS:STRING=-mcpu=cortex-a7 -mfpu=vfpv3 -mthumb -mfloat-abi=hard -fexceptions -fasynchronous-unwind-tables
+TOOLCHAIN_EXTRA_LINKER_FLAGS:STRING=-mcpu=cortex-a7 -mfpu=vfpv3 -mthumb -mfloat-abi=hard -fexceptions -fasynchronous-unwind-tables

configurations/test/test-freertos-zynq.txt

@@ -0,0 +1,31 @@
+// ********************************************************************************
+//  Copyright (c) 2018, 2024 OFFIS e.V.
+// 
+//  This program and the accompanying materials are made available under the
+//  terms of the Eclipse Public License 2.0 which is available at
+//  http://www.eclipse.org/legal/epl-2.0.
+// 
+//  SPDX-License-Identifier: EPL-2.0
+//  
+//  Contributors:
+//     Jörg Walter - initial implementation
+//  *******************************************************************************/
+// 
+
+include=test-minimal.txt
+
+ARCH=arm-none-eabi
+
+CMAKE_BUILD_TYPE=Debug
+FORTE_LOGLEVEL=LOGDEBUG
+
+MODULE=FREERTOS_STANDALONE
+COM=ETH
+
+FORTE_ARCHITECTURE=FreeRTOSLwIP
+DEPS=freertos-cpp11
+
+FREERTOS_CONFIG=zynq7000
+TOOLCHAIN_EXTRA_C_FLAGS:STRING=-mcpu=cortex-a9 -mfpu=vfpv3 -mthumb -mfloat-abi=hard -fexceptions -fasynchronous-unwind-tables
+TOOLCHAIN_EXTRA_ASM_FLAGS:STRING=-mcpu=cortex-a9 -mfpu=vfpv3 -mthumb -mfloat-abi=hard -fexceptions -fasynchronous-unwind-tables
+TOOLCHAIN_EXTRA_LINKER_FLAGS:STRING=-mcpu=cortex-a9 -mfpu=vfpv3 -mthumb -mfloat-abi=hard -fexceptions -fasynchronous-unwind-tables

dependencies/recipes/freertos-cpp11/bugfix.diff

@@ -0,0 +1,132 @@
+diff --git a/newlib/libc/include/limits.h b/newlib/libc/include/limits.h
+index e05a6795f..dc26e2870 100644
+--- a/newlib/libc/include/limits.h
++++ b/newlib/libc/include/limits.h
+@@ -128,6 +128,35 @@
+
+ #endif	 /* !_LIBC_LIMITS_H_ */
+
++#   ifndef __LONG_LONG_MAX__
++#    define __LONG_LONG_MAX__ 9223372036854775807LL
++#   endif
++
++#   if __ISO_C_VISIBLE >= 1999
++/* Minimum and maximum values a `signed long long int' can hold.  */
++#    undef LLONG_MIN
++#    define LLONG_MIN (-LLONG_MAX-1)
++#    undef LLONG_MAX
++#    define LLONG_MAX __LONG_LONG_MAX__
++
++/* Maximum value an `unsigned long long int' can hold.  (Minimum is 0).  */
++#    undef ULLONG_MAX
++#    define ULLONG_MAX (LLONG_MAX * 2ULL + 1)
++#   endif
++
++#  if __GNU_VISIBLE
++/* Minimum and maximum values a `signed long long int' can hold.  */
++#    undef LONG_LONG_MIN
++#    define LONG_LONG_MIN (-LONG_LONG_MAX-1)
++#    undef LONG_LONG_MAX
++#    define LONG_LONG_MAX __LONG_LONG_MAX__
++
++/* Maximum value an `unsigned long long int' can hold.  (Minimum is 0).  */
++#    undef ULONG_LONG_MAX
++#    define ULONG_LONG_MAX (LONG_LONG_MAX * 2ULL + 1)
++#   endif
++
++
+ #if defined __GNUC__ && !defined _GCC_LIMITS_H_
+ /* `_GCC_LIMITS_H_' is what GCC's file defines.  */
+ #ifdef __clang__
+diff --git a/newlib/libc/include/sys/_types.h b/newlib/libc/include/sys/_types.h
+index 76ac27fd1..5bb076e5a 100644
+--- a/newlib/libc/include/sys/_types.h
++++ b/newlib/libc/include/sys/_types.h
+@@ -204,7 +204,7 @@ typedef struct
+   int __count;
+   union
+   {
+-    wint_t __wch;
++    unsigned __wch;
+     unsigned char __wchb[4];
+   } __value;		/* Value so far.  */
+ } _mbstate_t;
+diff --git a/newlib/libc/include/wchar.h b/newlib/libc/include/wchar.h
+index 8a9c4b0fe..461b2a767 100644
+--- a/newlib/libc/include/wchar.h
++++ b/newlib/libc/include/wchar.h
+@@ -96,6 +96,12 @@ struct tm;
+ typedef _mbstate_t mbstate_t;
+ #endif /* _MBSTATE_T */
+
++#ifndef _WINT_T
++#define _WINT_T
++typedef unsigned wint_t;
++#endif
++
++
+ wint_t	btowc (int);
+ int	wctob (wint_t);
+ size_t	mbrlen (const char *__restrict, size_t, mbstate_t *__restrict);
+@@ -223,7 +223,7 @@
+ long double wcstold_l (const wchar_t *, wchar_t **, locale_t);
+ #endif
+
+-#ifndef TINY_STDIO
++#ifndef __libstdcpp_needs_these_declarations_even_with_TINY_STDIO
+
+ wint_t fgetwc (__FILE *);
+ wchar_t *fgetws (wchar_t *__restrict, int, __FILE *__restrict);
+diff --git a/newlib/libc/include/wctype.h b/newlib/libc/include/wctype.h
+index 74f7ce08a..6ab8c9422 100644
+--- a/newlib/libc/include/wctype.h
++++ b/newlib/libc/include/wctype.h
+@@ -28,6 +28,11 @@ typedef int wctype_t;
+ typedef int wctrans_t;
+ #endif
+
++#ifndef _WINT_T
++#define _WINT_T
++typedef unsigned wint_t;
++#endif
++
+ int	iswalpha (wint_t);
+ int	iswalnum (wint_t);
+ #if __ISO_C_VISIBLE >= 1999
+diff --git a/newlib/libc/stdlib/nano-mallocr.c b/newlib/libc/stdlib/nano-mallocr.c
+index f9f443eff..273e86352 100644
+--- a/newlib/libc/stdlib/nano-mallocr.c
++++ b/newlib/libc/stdlib/nano-mallocr.c
+@@ -370,7 +370,6 @@ void * malloc(size_t s)
+         if (r == (void *)-1)
+         {
+             errno = ENOMEM;
+-            MALLOC_UNLOCK;
+             return NULL;
+         }
+         r->size = alloc_size;
+diff --git a/scripts/duplicate-names b/scripts/duplicate-names
+index 9cb9a3a35..bfb44825b 100755
+--- a/scripts/duplicate-names
++++ b/scripts/duplicate-names
+@@ -3,7 +3,7 @@ NM="$1"
+ FILE="$2"
+ OUTPUT="$3"
+
+-"$NM" -g "$FILE" 2>/dev/null | grep ' [A-TV-Z] ' | grep -v '__x86' | sort | uniq -d > "$OUTPUT"
++"$NM" -g "$FILE" 2>/dev/null | grep ' [A-TV-Z] ' | grep -v '__x86' | grep -v '__gnu_lto' | sort | uniq -d > "$OUTPUT"
+ if [ -e "$OUTPUT" -a -s "$OUTPUT" ]; then
+     echo "Duplicate names in ${FILE}"
+     cat "$OUTPUT"
+--- a/newlib/libc/tinystdio/stdio.h	2021-03-10 00:18:06.988604044 +0100
++++ b/newlib/libc/tinystdio/stdio.h	2021-04-15 14:04:32.013831368 +0200
+@@ -857,6 +857,9 @@
+  */
+ extern int	sscanf(const char *__buf, const char *__fmt, ...) __FORMAT_ATTRIBUTE__(scanf, 2, 3);
+
++/* dummy declaration for libstdc++, not actually implemented */
++extern int vsscanf(const char *__buf, const char *__fmt, va_list __ap) __FORMAT_ATTRIBUTE__(scanf, 2, 0);
++
+ /**
+    Flush \c stream.
+

dependencies/recipes/freertos-cpp11/build.cmake

@@ -0,0 +1,40 @@
+#********************************************************************************
+# Copyright (c) 2018, 2024 OFFIS e.V.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+# 
+# Contributors:
+#    Jörg Walter - initial implementation
+# *******************************************************************************/
+#
+
+cmake_minimum_required(VERSION 3.13)
+project(freertos-cpp11 LANGUAGES C CXX VERSION 0.0.20210419)
+
+include(toolchain-utils)
+
+find_package(freertos REQUIRED)
+
+add_library(freertos-cpp11
+  FreeRTOS/cpp11_gcc/freertos_time.cpp
+  FreeRTOS/cpp11_gcc/gthr_key.cpp
+  FreeRTOS/cpp11_gcc/thread.cpp
+
+  ${CGET_RECIPE_DIR}/extra.cpp
+  )
+target_link_libraries(freertos-cpp11 PUBLIC freertos::freertos-core)
+target_link_options(freertos-cpp11 INTERFACE  -Wl,--undefined=__override_libstdcpp_hack)
+target_compile_definitions(freertos-cpp11 PUBLIC -D_GLIBCXX_HAS_GTHREADS=1)
+target_compile_definitions(freertos-cpp11 PUBLIC -DpdTICKS_TO_MS=)
+target_include_directories(freertos-cpp11 PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/FreeRTOS/cpp11_gcc)
+
+install(TARGETS freertos-cpp11
+  EXPORT freertos-cpp11
+  DESTINATION lib)
+
+install_export_config()

dependencies/recipes/freertos-cpp11/extra.cpp

@@ -0,0 +1,16 @@
+#include <FreeRTOS.h>
+#include <task.h>
+#include <debug-printf.h>
+
+int __override_libstdcpp_hack;
+
+/* libstdc++ adaption, prevent using the version that uses newlib's puts(),
+ * because that cannot be overridden by any other libc (like picolibc)  */
+namespace __gnu_cxx {
+    void __verbose_terminate_handler() {
+        taskENTER_CRITICAL_FROM_ISR();
+        debug_printf("*** TERMINATE CALLED ***\n");
+
+        for(;;);
+    }
+}

dependencies/recipes/freertos-cpp11/package.txt

@@ -0,0 +1 @@
+grygorek/FreeRTOS_cpp11@21300eb04c7598da4d06b6bfc373ffc027aef5c3 -X build.cmake -H sha256:9f0ec488d6845f491e614c3ddd2f06adede64adbf9f91ba0c955c20aed5b4f28

dependencies/recipes/freertos-cpp11/requirements.txt

@@ -0,0 +1 @@
+freertos

dependencies/recipes/freertos/bcm2837/bcm2837-setup.c

@@ -0,0 +1,57 @@
+/********************************************************************************
+# Copyright (c) 2020, 2024 OFFIS e.V.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+# 
+# Contributors:
+#    Jörg Walter - initial implementation
+# *******************************************************************************/
+
+#include <stdint.h>
+#include <FreeRTOS.h>
+#include <interrupts.h>
+
+#define qa7reg(x) (*((volatile int32_t*)(((uintptr_t)(0x40000000))+(x))))
+
+#define qa7route qa7reg(0x24)
+#define qa7control qa7reg(0x34)
+#define qa7clear qa7reg(0x38)
+#define qa7c0control qa7reg(0x40)
+
+#define qa7hz_to_cnt(x) (38400000/(x))
+#define qa7control_timer_enable (1<<28)
+#define qa7control_int_enable (1<<29)
+
+#define qa7clear_int (1<<31)
+#define qa7clear_cnt (1<<30)
+
+#define qa7ccontrol_nCNTPSIRQ (1<<0)
+#define qa7ccontrol_nCNTPNSIRQ (1<<1)
+#define qa7ccontrol_nCNTPSIRQ_FIQ (1<<4)
+#define qa7ccontrol_nCNTPNSIRQ_FIQ (1<<5)
+
+int ulPortYieldRequired = 0;
+
+__attribute__((no_instrument_function))
+void vLocalTickISR()
+{
+	ulPortYieldRequired = xTaskIncrementTick();
+
+	qa7clear = qa7clear_int;
+}
+
+
+void prvSetupLocalTimerInterrupt( void ) {
+	qa7route = 0; // core 0
+	qa7control = qa7hz_to_cnt(1000) | qa7control_timer_enable | qa7control_int_enable;
+
+	qa7clear = qa7clear_int | qa7clear_cnt;
+
+	qa7c0control &= ~qa7ccontrol_nCNTPNSIRQ_FIQ;
+	qa7c0control |= qa7ccontrol_nCNTPNSIRQ;
+}
+/*-----------------------------------------------------------*/